Distributed underwater control system
By using a distributed underwater control system, which combines control terminals and relay equipment, multiple underwater devices can operate simultaneously, solving the problems of high cost and low efficiency in existing technologies and providing a stable operating environment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-18
- Publication Date
- 2026-03-06
AI Technical Summary
Existing underwater robot systems require multiple relay devices to connect in deep-water operations, resulting in high configuration costs and low operational efficiency.
A distributed underwater control system is adopted, which enables multiple underwater devices to operate simultaneously through a combination of control terminal, multiple relay devices and underwater devices. The cables are managed through a hub device to reduce the impact of cables on the equipment.
It reduces system configuration costs, improves underwater operation efficiency, and provides stable operating conditions.
Smart Images
Figure CN223977521U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent robot technology, and in particular to a distributed underwater control system. Background Technology
[0002] Currently, underwater robots (ROVs) are crucial equipment for deep-sea operations. For deep-water operations, to accurately deliver the ROV to the predetermined working depth, it is often necessary to equip it with multiple relay devices. Specifically, multiple relay devices are connected in series, with the last relay device connected to a single ROV, extending the ROV's working depth through these relays. Since only one ROV is connected, all underwater operations must be performed by that single ROV, resulting in high configuration costs and low operational efficiency. Utility Model Content
[0003] This application provides a distributed underwater control system that can improve the operational efficiency of the distributed underwater control system while reducing costs.
[0004] This application provides a distributed underwater control system, which includes a first cable, a second cable, at least one control terminal, m relay devices, and n underwater devices, wherein m ≥ 2 and n ≥ 2, where:
[0005] The number of control terminals is less than or equal to the number of underwater devices; each control terminal is electrically connected to at least one underwater device via the first cable, at least one relay device, and the second cable, so as to transmit control commands to the corresponding underwater device via the first cable and the second cable.
[0006] x of the relay devices are connected to different underwater devices via the second cable, where 1 ≤ x ≤ m.
[0007] In one embodiment, the relationship between m, n, and x satisfies: m = n = x, and each of the relay devices is connected to one of the underwater devices via the second cable; or,
[0008] The relationship between m, n, and x satisfies: m > n = x, and x relay devices are each connected to one underwater device via the second cable; or...
[0009] n > x, x relay devices are connected to different underwater devices via the second cable, and there is a case where at least one relay device is connected to at least two underwater devices via the second cable.
[0010] In one embodiment, the number of control terminals is the same as the number of underwater devices, and each control terminal is electrically connected to one of the underwater devices via the second cable; or,
[0011] The number of control terminals is less than the number of underwater devices, and there is a case where at least one control terminal is electrically connected to at least two of the underwater devices via the second cable.
[0012] In one embodiment, at least two of the relay devices are provided with different underwater devices on the same side.
[0013] In one embodiment, the number of control terminals is less than or equal to the number of relay devices, and each control terminal is electrically connected to at least one of the relay devices via the first cable to transmit control commands to the corresponding relay device via the first cable.
[0014] In one embodiment, the control system includes a water-based device, and the control system further includes a first hub device, on which the first cable is wound. The first hub device is disposed on the water-based device, and the control terminal uses the first hub device to reel in and unwind the first cable.
[0015] In one embodiment, the control system further includes a second hub, on which the second cable is wound. At least a portion of the relay equipment is equipped with the second hub, and the control terminal retracts and extends the second cable through the second hub.
[0016] In one embodiment, the first cable comprises multiple segments, and the control terminal is connected to its nearest relay device and to two adjacent relay devices via a segment of the first cable.
[0017] In one embodiment, the diameter of each segment of the first cable increases sequentially according to the order of entry into the water.
[0018] In one embodiment, each of the relay devices is equipped with a depth gauge for obtaining its own depth in the water.
[0019] The distributed underwater control system provided in this application, compared with existing technologies, firstly, sets each control terminal to control at least one underwater device, facilitating operators to control multiple underwater devices through the control terminal; secondly, it sets up x relay devices to connect with different underwater devices, enabling the distributed underwater control system to set up multiple underwater devices to perform underwater operations simultaneously, improving underwater operation efficiency. Furthermore, with the help of the relay devices, the impact of cables on underwater devices can be further reduced, providing stable operating conditions for the underwater devices. Attached Figure Description
[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0021] Figure 1 This is a system architecture diagram of the distributed underwater control system provided in Embodiment 1 of this application;
[0022] Figure 2 yes Figure 1 The diagram shows the structure of the reel and cable in the distributed underwater control system.
[0023] Figure 3 This is a partial structural schematic diagram of the distributed underwater control system according to Embodiment 2 of this application;
[0024] Figure 4 This is a system architecture diagram of the distributed underwater control system provided in Embodiment 4 of this application;
[0025] Figure 5 This is a system architecture diagram of the distributed underwater control system provided in Embodiment 5 of this application;
[0026] Figure 6 This is a system architecture diagram of the distributed underwater control system provided in Embodiment Six of this application. Detailed Implementation
[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0028] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.
[0029] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.
[0030] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values may in practice be based on additional conditions or values beyond those stated.
[0031] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.
[0032] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a distributed underwater control system provided in an embodiment of this application, as shown below. Figure 1As shown, the distributed underwater control system 10 of this embodiment includes a first cable 101, a second cable 108, at least one control terminal 102, m relay devices 103, n underwater devices 104, and shore-based devices 106, where m ≥ 2 and n ≥ 2.
[0033] The control terminal 102 is mounted on the onshore equipment 106, while the relay equipment 103 and the underwater equipment 104 are positioned underwater during operation. The control terminal 102 is electrically connected to at least one underwater device 104 via a first cable 101, at least one relay equipment 103, and a second cable 108, to transmit control commands to the corresponding underwater device 104 through the first cable 101 and the second cable 108. Specifically, the control terminal 102 is connected to the relay equipment 103 via the first cable 101, and the relay equipment 103 is further connected to the underwater device 104 via the second cable 108, thus electrically connecting the control terminal 102 to the underwater device 104. This allows the operator's control commands to be transmitted to the underwater device 104 via the first cable 101 and the second cable 108, enabling the underwater device 104 to perform underwater operations according to the commands.
[0034] Underwater device 104 refers to equipment capable of controlled underwater operations, such as underwater robots, underwater vehicles, and underwater drones. Underwater device 104 is equipped with multiple thrusters, which, driven by control terminal 102, control the underwater device 104 to perform actions such as forward and backward movement, left and right movement, up and down movement, diagonal movement, or hovering at a designated position, giving the underwater device 104 multi-posture movement capabilities. Underwater device 104 is also equipped with a Doppler Velocity Log (DVL) for measuring its movement speed and various parameters in the underwater environment, and an Ultra-Short Baseline (USBL) system for underwater positioning. Underwater device 104 can combine the DVL to measure various parameters of the underwater environment in real time.
[0035] In this embodiment, x relay devices 103 are connected to different underwater devices 104 via second cables 108, where 1 ≤ x ≤ m. That is, among the m relay devices 103, at least one relay device 103 is connected to a different underwater device 104. Figure 1As shown, the relationship between m, n, and x satisfies: m = n = x, meaning each relay device 103 is connected to an underwater device 104 via a second cable 108. Specifically, relay device 1 connects to underwater device 1, relay device 2 connects to underwater device 2, and so on, with relay device n connecting to underwater device n. Relay devices 103 and underwater devices 104 are connected in a one-to-one correspondence. Relay devices 1, 2...n move away from the control terminal 102 in sequence, and similarly, the corresponding underwater devices 104 also move away from the control terminal 102 in sequence. Each underwater device 104 has a corresponding operating range, so n underwater devices 104 can perform underwater operations in different underwater areas. For example, the underwater area range corresponding to underwater device 1 is S1, the underwater area range corresponding to underwater device 2 is S2, and so on, with the underwater area range corresponding to underwater device n being Sn. Compared to existing technologies with only a single underwater device in a distributed underwater control system, the distributed underwater control system 10 of this application, with multiple underwater devices 104, can significantly improve underwater operation efficiency. In a specific embodiment, the operating range of each underwater device 104 can be 40-60 meters, determined by the length of the second cable 108 on the corresponding connected relay device 103. Furthermore, setting multiple relay devices 103 allows for a certain degree of control over the second cable 108, preventing its swaying or swinging. This effectively controls the second cable 108 connected to the underwater device 104, preventing the underwater device 104 from swaying due to the second cable 108's movement and improving its stability.
[0036] Furthermore, at least two relay devices 103 may be configured with different underwater devices 104 on the same side. For example... Figure 1 As shown, all relay devices 103 have corresponding underwater devices 104 installed on the same side. This is because most underwater targets are located on the same side of the relay devices 103, such as the bottom of a flat-structured ship. Configuring underwater devices 104 on the same side facilitates detection. It is understandable that the installation positions of the underwater devices 104 can be configured before operation based on the shape of the underwater target and the operational requirements.
[0037] The control terminal 102 can be a portable electronic device carried by the user, such as a smartphone, smartwatch, tablet, personal digital assistant (PDA), smart wearable device, etc. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running various operating systems. It should also be understood that in some other embodiments of this application, the control terminal 102 can also be a non-portable electronic device, such as a remote control, laptop, laptop computer with a touch-sensitive surface (e.g., touch panel), desktop computer, etc.
[0038] In this embodiment, the number of control terminals 102 is the same as the number of underwater devices 104. Each control terminal 102 is electrically connected to one underwater device 104 via a first cable 101 and a second cable 108. Figure 1 As shown, control terminal 1 is electrically connected to underwater device 1, control terminal 2 is electrically connected to underwater device 2, ..., control terminal n is electrically connected to underwater device n. Therefore, each control terminal 102 can individually control the underwater device 104, allowing multiple operators in different locations to simultaneously control multiple underwater devices 104 through multiple control terminals 102, enabling multiple underwater devices 104 to perform underwater operations simultaneously and improving operational efficiency.
[0039] In other embodiments of this application, to consider cost control, the number of control terminals 102 can be less than the number of underwater devices 104, and at least one control terminal 102 is electrically connected to at least two underwater devices 104 via a first cable 101 and a second cable 108. That is, there are cases where a control terminal 102 is connected to two or more underwater devices 104. In this case, for example, control commands for two adjacent underwater devices 104 in the work area can be aggregated on the same control terminal 102, making it easier for operators to observe adjacent work areas and more accurately issue control commands to the adjacent underwater devices 104.
[0040] Furthermore, the control terminal 102 can also transmit control commands to the relay device 103, enabling the relay device 103 to move according to the control commands, just like the underwater device 104. The relay device 103 can also be similar to the underwater device 104, equipped with multiple thrusters. These thrusters, driven by the control terminal 102, can control the relay device 103 to perform actions such as forward and backward movement, left and right movement, up and down movement, diagonal movement, or hovering at a designated position, giving the relay device 103 multi-posture movement capabilities. The relay device 103 is also equipped with a Doppler Velocity Log (DVL) for measuring its movement speed and various parameters in the underwater environment, and an Ultra-Short Baseline (USBL) system for underwater positioning. The relay device 103 can combine the DVL to measure various parameters of the underwater environment in real time. The relay device 103 can also be equipped with a depth gauge to obtain its own depth in the water.
[0041] In this embodiment, the number of control terminals 102 can be equal to the number of relay devices 103. Each control terminal 102 is electrically connected to a relay device 103 via a first cable 101 to transmit control commands to the corresponding relay device 103 through the first cable 101, such as... Figure 1As shown, control terminal 1 is electrically connected to relay device 1, control terminal 2 is electrically connected to relay device 2, ..., control terminal n is electrically connected to relay device n. This allows multiple operators in different locations to simultaneously control multiple relay devices 103 via multiple control terminals 102, enabling multiple relay devices 103 to move or hover underwater simultaneously to assist the corresponding underwater device 104. For example, they can move in the same direction as the underwater device 104 to provide a larger operating area, hover in strong currents, or move in the opposite direction to the current to stabilize the second cable 108 connected to the underwater device 104, thereby providing a stable operating environment for the underwater device 104.
[0042] In other embodiments of this application, if cost control is taken into consideration, the number of control terminals 102 may be less than the number of relay devices 103. That is, at least one control terminal 102 is electrically connected to two or more relay devices 103 through a first cable 101 to transmit control commands to the corresponding relay device 103 through the first cable 101.
[0043] Please combine further Figure 2 The underwater distributed control system 10 also includes a first hub device 105, on which the first cable 101 is collected, such as... Figure 2 As shown, the first cable hub 105 can be a reel structure, with the first cable 101 wound on the reel. The first cable hub 105 is installed on the water equipment 106, and the control terminal 102 uses the first cable hub 105 to wind and unwind the first cable 101.
[0044] The first cable 101 is a communication cable, and each control terminal 102 corresponds to one communication cable. The communication cables are used to transmit the control commands described above. The control system may also include power cables for transmitting electrical energy. Figure 1As shown, the distributed underwater control system 10 also includes a power system 107, which is installed on the shore-based equipment 106. The power system 107 can provide power to each relay device 103 and / or underwater device 104 via a third cable 110 (i.e., a power cable). The power cable and communication cable can be wrapped together by an insulating shell 120. In this embodiment, the relay devices 103 and / or underwater devices 104 are equipped with batteries. When the batteries are fully charged, they are powered primarily through their respective batteries. When the batteries are low on power, the power system 107 charges the batteries of the relay devices 103 and / or underwater devices 104 via the third cable 110. The power supply provided by the third cable 110 to the power system 107 can be real-time or non-real-time. It is understood that in other embodiments, the relay device 103 and / or the underwater device 104 may not be equipped with a battery. In this case, the third cable 110 will continuously transmit the power supplied by the power system 107, providing real-time power to the relay device 103 and / or the underwater device 104. The connection relationship between the power system 107 and the relay device 103 and / or the underwater device 104 is the same as the connection relationship between the control terminal 102 and the relay device 103 and / or the underwater device 104, and will not be described again here. In other embodiments, the first cable may also be composed of both a communication cable and a power cable.
[0045] Please refer to the following: Figure 1 The control system 10 also includes a second hub 109, on which the second cable 108 is collected. The second hub 109 may also be a coil structure (e.g., Figure 2 (Structure shown). At least part of the relay equipment 103 is internally equipped with a second hub 109, and the control terminal 102 uses the second hub 109 to manage the winding and unwinding of the second cable 108. Figure 1 In the illustrated embodiment, each relay device 103 is internally equipped with a second hub device 109. Furthermore, the second hub device 109 can be configured as follows: Figure 2 The single-coil structure shown has two interfaces on the relay device 103. One end of the second cable 108, wound around the second hub 109, connects to a control terminal 102 through one interface on the relay device 103, and the other end connects to an underwater device 104 through the other interface on the relay device 103. That is, one second hub 109 corresponds to one control terminal 102 and one underwater device 104. It is worth noting that, in the direction away from the control terminal 102, the second cable 108 in the subsequent relay device 103 can pass through the interface of the preceding relay device 103 and connect to the corresponding control terminal 102, for example... Figure 1The second cable 108 on the second hub device 109 in the relay device 2 shown can be threaded through the interface of the relay device 1 and connected to the corresponding control terminal 2. Similarly, the second cable 108 on the second hub device 109 in the relay device n can be threaded through the interfaces of the preceding n-1 relay devices and connected to the corresponding control terminal n. By threading the second cable 108 of the subsequent relay device 103 through the preceding relay device 103, the second cables 108 corresponding to the relay device 103 can be better centralized, avoiding the situation where the second cable 108 on each relay device 103 is too long and floats in the water, causing control difficulties and easy tangling, when directly connected to the corresponding control terminal 102.
[0046] The control terminal 102 can further control the second hub device 109 to control the second cable 108 on the second hub device 109 to retrieve and deploy the cable. By controlling the second hub device 109, the cable retrieval and deployment control of the relay device 103 and the underwater device 104 can be realized.
[0047] In other embodiments of this application, a second hub device 109 may also be provided inside part of the relay device 103, which can be further combined with... Figure 3 This is a partial structural diagram of a distributed underwater control system, such as... Figure 3 As shown, the second hub device 109 configured on relay device 1 has a dual-coil structure, while the adjacent relay device 2 does not have a second hub device 109. One end of the second cable 108 of one of the coils 1 on relay device 1 is connected to a control terminal 1 through an interface on relay device 1, and the other end of the second cable 108 of coil 1 is connected to the underwater device 1 through another interface on relay device 1; one end of the second cable 108 of the other coil 2 is connected to the control terminal 2 through an interface on relay device 1, and the other end of the second cable 108 of coil 2 passes through another interface on relay device 1 and is connected to relay device 2 and its corresponding underwater device 2. Thus, control terminal 1 can control relay device 1 and underwater device 1 through the second cable 108 on coil 1, and control terminal 2 can control relay device 2 and underwater device 2 through the second cable 108 on coil 2.
[0048] Similarly, two or more second hub devices 109 can be installed on some relay devices 103, and their connection principle is the same as described above.
[0049] Because the second hub device 109 occupies a certain amount of space and has a certain weight, it needs to be lifted into the water using a crane or other lifting equipment when the relay device 103 is submerged. Furthermore, the relay device 103 needs to be moved underwater. Therefore, the first scenario is suitable for installing two or more second hub devices 109 on the relay device 103 in shallow water, for example... Figure 3In the distributed underwater control system shown, the submersion depth of relay device 1 is relatively small. Therefore, two or more second hub devices 109 can be installed on relay device 1 to reduce the weight and volume of relay devices in other deep water areas, and to facilitate the hoisting and submersion of other relay devices in the water and their movement in deep water areas.
[0050] Please see Figure 4 , Figure 4 This is a schematic diagram of another distributed underwater control system according to this application. The distributed underwater control system 20 of this embodiment and... Figure 1 The difference in the underwater distributed system 10 shown is that the diameter of the first cable 201 in this embodiment varies depending on the water depth. Specifically, as... Figure 4 As shown, the first cable 201 may include multiple segments. The control terminal 202 is connected to its nearest relay device 203, and adjacent relay devices 203 are connected via a segment of the first cable 201. For example, relay device 1 and the control terminal are electrically connected via cable segment 1, relay device 1 and relay device 2 are electrically connected via cable segment 2, and relay device n and adjacent relay devices are electrically connected via cable segment n. There may be multiple control terminals 202, for example... Figure 5 The number of control terminals 202 corresponds one-to-one with the number of relay devices 203 and underwater devices 204. One end of the first cable 201 can be electrically connected to control terminals 1, 2...n respectively. This can be achieved through connectors. For example, after cable 1 passes through the first hub device 205, it is electrically connected to a connector. Control terminals 1, 2...n are also electrically connected to this connector, and control commands are transmitted to the cable through this connector. This allows each control terminal 202 to transmit its corresponding control command through the first cable 201.
[0051] When the control system is in operation, the relay devices 203 are arranged underwater in a depth-difference manner according to their entry order. That is, the water depth at the location of the relay device 203 that enters the water first is greater than the water depth at the location of the relay device 203 that enters the water later. To improve power transmission efficiency and reduce power loss, the diameter of each segment of the first cable 201 increases sequentially according to the entry order. The diameter of the first cable 201 closer to the surface is larger. Specifically, the diameter of the first cable 201 between any two adjacent relay devices 203 is smaller than the diameter of the first cable 201 provided by the first hub device 205. The diameter of each segment of the first cable 201 increases sequentially according to the entry order. This can also be understood as the first cable diameters on both sides of the relay device 203 being different, ensuring that the diameter of the first cable entering the water first is smaller than the diameter of the first cable entering the water later.
[0052] Similarly, the diameter of the second cable connecting the underwater devices 204 to the relay device 203 can be the same as the diameter of the first cable on one side of the corresponding relay device 203. The specific configuration is as described above for the first cable 201, and will not be repeated here. Setting the diameter of the second cable between the relay device and the underwater devices to be the same as the diameter of the first cable on one side of the relay device eliminates the need to configure a second cable of a different diameter when setting the first cable, simplifying the process. In actual operation, for systems containing three or more relay devices, the order of entry into the water for each relay device and the connection of each first cable are pre-configured in the surface environment. When operation is required, the underwater devices are first placed in the water, and then, according to the configuration, each relay device is placed in the water sequentially. In other embodiments, for ease of configuration, the first cables between adjacent relay devices can also be configured with the same diameter.
[0053] Please see Figure 5 , Figure 5 This is a schematic diagram of another distributed underwater control system according to this application. The underwater distributed system 30 of this embodiment still includes a first cable 301, a second cable 308, at least one control terminal 302, m relay devices 303, n underwater devices 304, etc., and still has x relay devices 303 connected to different underwater devices 304 via the second cable 308, where m≥2, n≥2, 1≤x≤m. The distributed underwater control system 30 of this embodiment... Figure 1 The difference in the distributed underwater control system 10 shown is that the relationship between m, n, and x in this embodiment satisfies: m > n = x, that is, x relay devices 303 are each connected to an underwater device 304 via a second cable 308. Specifically, among the m relay devices 303 in the control system, only some of the relay devices 303 are connected to the underwater device 304, such as... Figure 5 As shown, in a control system containing m relay devices 303, there are two relay devices 303 connected to an underwater device 304 respectively, such as relay device m being connected to underwater device 1, and relay device m-1 being connected to underwater device 2.
[0054] This embodiment can set different numbers of underwater devices 304 according to the needs of underwater operations, which can ensure the efficiency of underwater operations at a low cost.
[0055] Please see Figure 6 , Figure 6This is a schematic diagram of another distributed underwater control system according to this application. The distributed underwater control system 40 of this embodiment still includes a first cable 401, a second cable 408, at least one control terminal 402, m relay devices 403, and n underwater devices 404, and still has x relay devices 303 connected to different underwater devices 304 via the second cable 408, where m≥2, n≥2, and 1≤x≤m. The underwater distributed system 30 of this embodiment... Figure 1 The difference in the shown underwater distributed system 10 is that n > x, that is, x relay devices 403 are connected to different underwater devices via second cables 408, and there is a case where at least one relay device 403 is connected to at least two underwater devices 404 via the second cables 408. Specifically, some relay devices 403 are connected to two or more underwater devices 404, such as... Figure 6 As shown, in a control system containing m relay devices 403, there are two relay devices 403 connected to underwater devices 404, and there is one relay device 403 connected to two underwater devices 404, such as relay device m connected to underwater devices 1 and underwater devices 2, and relay device m-1 connected to underwater device 3.
[0056] This embodiment can set different numbers of underwater devices 404 and set the structural positions of the underwater devices 404 according to the needs of underwater operations, which can ensure the efficiency of underwater operations at a low cost.
[0057] In summary, this application firstly sets each control terminal to control at least one underwater device, facilitating the operation and control of multiple underwater devices by personnel through the control terminal; secondly, it sets up x relay devices to connect with different underwater devices, enabling the distributed underwater control system to set up multiple underwater devices to perform underwater operations simultaneously, thereby improving underwater operation efficiency. Furthermore, the relay devices further reduce the interference between adjacent cables, providing stable operating conditions for the underwater devices.
[0058] The distributed underwater control system and control method provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A distributed underwater control system, characterized by, The control system comprises a first cable, a second cable, at least one control terminal, m relay devices and n underwater devices, wherein m≥2 and n≥2, and wherein: The number of control terminals is less than or equal to the number of underwater devices; each control terminal is electrically connected to at least one underwater device through the first cable, at least one relay device and the second cable, so as to deliver control instructions to the corresponding underwater device through the first cable and the second cable; x relay devices are connected to different underwater devices through the second cable, wherein 1≤x≤m.
2. The control system of claim 1, wherein, The relationship between m, n and x satisfies: m=n=x, each relay device is connected to one underwater device through the second cable; or, The relationship between m, n and x satisfies: m>n=x, x relay devices are connected to one underwater device through the second cable respectively; or, n>x, x relay devices are connected to different underwater devices through the second cable respectively, and at least one relay device is connected to at least two underwater devices through the second cable.
3. The control system of claim 1, wherein, At least two relay devices are respectively provided with different underwater devices on the same side.
4. The control system of claim 1, wherein, The number of control terminals is the same as the number of underwater devices, and each control terminal is electrically connected to one underwater device through the second cable; or, The number of control terminals is less than the number of underwater devices, and at least one control terminal is electrically connected to at least two underwater devices through the second cable.
5. The control system of claim 1, wherein, The number of control terminals is less than or equal to the number of relay devices, and each control terminal is electrically connected to at least one relay device through the first cable, so as to deliver control instructions to the corresponding relay device through the first cable.
6. The control system of any one of claims 1-5, wherein, The control system comprises an above-water device, and further comprises a first winding device, the first cable is wound on the first winding device, the first winding device is arranged on the above-water device, and the control terminal winds and unwinds the first cable through the first winding device.
7. The control system of claim 6, wherein, The control system further comprises a second winding device, the second cable is wound on the second winding device, and at least part of the relay devices are internally provided with the second winding device, and the control terminal winds and unwinds the second cable through the second winding device.
8. The control system of claim 6, wherein, The first cable comprises a plurality of sections, and each section is connected through a section of the first cable between the control terminal and its closest relay device or between adjacent two relay devices.
9. The control system of claim 8, wherein, The cable diameters of the sections of the first cable increase in turn according to the order of entering water.
10. The control system of claim 1, wherein, A depth gauge is arranged on each relay device to obtain the depth of the relay device in water.